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Fix 3D arming checks for throttle value

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When FEATURE_3D is on the arm switch does not need to be toggled when
the throttle returns to a valid value (i.e. in the 3D deadband) from
either direction.

This allows the previous "arm and slowly raise throttle" arming
behaviour for 3D flight.
This commit is contained in:
Dan Nixon 2017-11-08 13:50:31 +00:00
parent 8962f0af40
commit eadcf42650
2 changed files with 78 additions and 2 deletions
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69
src/test/unit/arming_prevention_unittest.cc
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@ -65,6 +65,7 @@ extern "C" {
bool cmsInMenu = false;
}
uint32_t simulationFeatureFlags = 0;
uint32_t simulationTime = 0;
bool gyroCalibDone = false;
bool simulationHaveRx = false;
@ -346,13 +347,79 @@ TEST(ArmingPreventionTest, RadioTurnedOnAtAnyTimeArmed)
EXPECT_EQ(0, getArmingDisableFlags());
}
TEST(ArmingPreventionTest, In3DModeAllowArmingWhenEnteringThrottleDeadbandFromNegativeSide)
{
// given
simulationFeatureFlags = FEATURE_3D; // Using 3D mode
simulationTime = 30e6; // 30 seconds after boot
gyroCalibDone = true;
// and
modeActivationConditionsMutable(0)->auxChannelIndex = 0;
modeActivationConditionsMutable(0)->modeId = BOXARM;
modeActivationConditionsMutable(0)->range.startStep = CHANNEL_VALUE_TO_STEP(1750);
modeActivationConditionsMutable(0)->range.endStep = CHANNEL_VALUE_TO_STEP(CHANNEL_RANGE_MAX);
useRcControlsConfig(NULL);
// and
rxConfigMutable()->midrc = 1500;
flight3DConfigMutable()->deadband3d_throttle = 5;
// and
rcData[THROTTLE] = 1400;
ENABLE_STATE(SMALL_ANGLE);
// and
// RX has no link to radio
simulationHaveRx = false;
// and
// arm channel has a safe default value
rcData[4] = 1100;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
// attempt to arm
rcData[4] = 1800;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_TRUE(isArmingDisabled());
EXPECT_EQ(ARMING_DISABLED_THROTTLE, getArmingDisableFlags());
// given
// throttle moved to centre
rcData[THROTTLE] = 1496;
// when
updateActivatedModes();
updateArmingStatus();
// expect
EXPECT_FALSE(isUsingSticksForArming());
EXPECT_FALSE(isArmingDisabled());
EXPECT_EQ(0, getArmingDisableFlags());
}
// STUBS
extern "C" {
uint32_t micros(void) { return simulationTime; }
uint32_t millis(void) { return micros() / 1000; }
bool rxIsReceivingSignal(void) { return simulationHaveRx; }
bool feature(uint32_t) { return false; }
bool feature(uint32_t f) { return simulationFeatureFlags & f; }
void warningLedFlash(void) {}
void warningLedDisable(void) {}
void warningLedUpdate(void) {}